OCTN: Neural OCT Representations for Robot-Guided Precision Intervention

RESUMO

Optical coherence tomography (OCT) offers compact, contactless, micron-scale imaging suitable for intraoperative guidance, but native OCT volumes are discretely sampled, anisotropic, and currently inefficient for downstream geometric reasoning and robot integration. We present OCTN (pronounced "octane"), an implicit neural representation framework that converts volumetric OCT scans into a continuous, differentiable, and spatially faithful tissue-intensity field. OCTN uses a two-stage hybrid training strategy that combines supervision from acquired voxels with inter-slice interpolations, preserving B-scan fidelity while improving continuity in sparsely sampled regions. For versatility, we first show that OCTN enables fast volumetric reasoning by storing the learned tissue representation natively on the GPU, supporting intensity-based spatial queries with up to 43x speedup over conventional CPU processing. We then demonstrate OCTN-enabled OCT-guided robotic laser surgery where the continuous tissue representation supports implicit surface discovery and surface-constrained path planning via multiple optimization strategies, including Newton- and SGD-based optimization. Next, OCTN enables reconstruction of dense volumetric structure from sparsely acquired B-scans, while reducing acquisition time by 4x and preserving clinically relevant structures. Across the newly generated Duke TissueOCT dataset and public OCT datasets, OCTN achieves robust, high-fidelity reconstruction with PSNR > 30 dB and training time < 10 s, while preserving surface consistency within 10 $\mu$m Chamfer distance relative to baseline reconstruction. The TissueOCT dataset and code are publicly available at this http URL